Adjustable control method, system and product for electrically powered control valve actuators
By optimizing PID parameters with dual closed-loop control and load sensing, the flow control problem of electric regulating valves under changing operating conditions is solved, achieving high-precision and fast-response flow regulation to meet the needs of different operating conditions.
Patent Information
- Application Number
- CN202611096823.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-07-23
- Publication Date
- 2026-08-25
AI Technical Summary
Existing electric control valves based on PID control are prone to problems such as insufficient flow control accuracy, slow response, and poor dynamic regulation performance when operating conditions change. They are difficult to adapt to load changes caused by factors such as medium pressure, temperature, viscosity, and valve wear.
A dual closed-loop control method is adopted. The inner loop is a speed loop that controls the flow rate by controlling the speed of the valve core motor. The outer loop is a flow loop that controls the steady-state flow by controlling the valve core position. By combining a brushless DC motor or a permanent magnet synchronous motor with a PID controller, the motor speed control is optimized by using PWM modulation signals, and the configuration parameters of the PID controller are adjusted according to the valve load status.
It improves the accuracy and robustness of flow regulation, avoids overshoot and oscillation, enhances adaptability to different operating conditions, protects valves and pipeline systems, and improves the response speed and efficiency of flow control.
Smart Images
Figure CN122632906A_ABST
Abstract
Description
Technical Field
[0001] This application relates to an adjustable control method, system, and product for an electric regulating valve actuator in the field of automatic valve control. Background Technology
[0002] An electric control valve is an automatic control valve that receives control signals from the control system and generates power through a valve core motor to drive the valve stem to make linear or angular displacements. By changing the flow area between the valve core and the valve seat, it regulates the flow rate of the medium in the flow channel. Existing electric control valves typically use PID control as the control method to eliminate the steady-state error of the controlled variable (usually flow rate), achieve rapid response to changes in flow rate, and eliminate the influence of external disturbances.
[0003] However, existing PID-based electric control valves still have some shortcomings. Specifically, the PID control of electric control valves is highly dependent on preset valve operating conditions and struggles to adapt to changes in operating conditions, such as variations in valve load due to medium pressure, temperature, viscosity, and valve wear. Traditional PID control can also experience excessive overshoot, continuous oscillation, and fluctuations in flow positioning errors under changing operating conditions. Therefore, when applied to scenarios with large system inertia or high dynamic response requirements, traditional PID-based electric control valves suffer from insufficient flow control accuracy, slow response, and poor dynamic regulation performance, failing to meet the demands of modern high-precision valves for rapid and accurate flow regulation. Summary of the Invention
[0004] The purpose of this application is to overcome the shortcomings of the prior art and provide an adjustable control method, system and product for an electric regulating valve actuator, which can achieve fast, accurate and robust regulation of medium flow under complex and changing operating conditions.
[0005] Firstly, this application provides an adjustable control method for an electric regulating valve actuator, wherein the actuator includes a valve core motor, the valve core motor being used to regulate the flow rate of the medium by controlling the movement of the valve core, and the technical solution includes the following steps: S100, obtain the target flow rate of the medium, and obtain the initial preset position of the valve core based on the target flow rate; S200, the valve core motor starts, controls the valve core to move, and obtains the current flow rate of the medium in real time; S300: When the valve core moves, the speed of the valve core motor is controlled to synchronously control the movement speed of the valve core, thereby controlling the rate of change of the current flow rate when the valve core moves. S400, based on the determined valve core movement speed, adjusts the preset position of the valve core in real time, thereby controlling the current flow rate when the valve core stops, until the current flow rate reaches the steady state of the target flow rate.
[0006] By adopting the above technical solution, the flow control of the medium is divided into two control closed loops: an inner loop (velocity loop) that controls the current flow rate change by controlling the rotational speed of the valve core motor, and an outer loop (flow loop) that controls the steady-state flow by controlling the valve core position. Utilizing the fast response of the inner velocity loop, the flow rate change is optimized through valve core movement speed control. This allows the outer flow loop to smoothly adjust the flow rate by adjusting the valve core position, adapting to various operating conditions, thereby improving flow regulation accuracy and efficiency, and exhibiting high robustness under different operating conditions.
[0007] Preferably, in S300, the specific method for controlling the speed of the valve core motor includes the following steps: S301, calculate the current flow rate change rate by continuously acquiring the current flow rate; S302, compare the current flow rate change rate with the preset target flow rate change rate, and input the comparison result into the first PID controller; S303, the first PID controller outputs a control signal based on the comparison result to control the speed of the valve core motor, so that the curve of the current flow rate change rate approaches the target flow rate change rate.
[0008] By adopting the above technical solution, the current flow rate change rate can be made to approach the preset target flow rate change rate, ensuring the flow rate change rate remains stable under different operating conditions. This avoids drastic fluctuations in the flow rate due to different operating conditions, which could affect the flow loop's ability to regulate flow and lead to excessive overshoot or continuous oscillation. Simultaneously, limiting the flow rate change rate can prevent water hammer or cavitation. This avoids interference with flow regulation and effectively suppresses damage to the pipeline system and valves, thus protecting the valve body.
[0009] Preferably, the valve core motor is a brushless DC motor or a permanent magnet synchronous motor, and the control signal output by the first PID controller is a PWM modulation signal.
[0010] By adopting the above technical solutions, brushless DC motors or permanent magnet synchronous motors based on PWM modulation signals can achieve convenient, efficient, and fast motor speed control.
[0011] As a preferred embodiment, the specific method for real-time adjustment of the preset position of the valve core in S400 includes the following steps: S401: Obtain the current flow rate each time the valve core reaches a preset position; S402 compares the current flow rate with the target flow rate and inputs the comparison result to the second PID controller. S403, the second PID controller outputs a control signal based on the comparison result to reset the preset position of the valve core, so that the current flow rate decays and oscillates near the target flow rate until the target flow rate is reached and maintains a steady state.
[0012] By adopting the above technical solution, based on the effective control of the valve core movement speed, the second PID controller can accurately and efficiently achieve flow control based on the comparison result between the current flow and the target flow.
[0013] Preferably, in S300, while controlling the speed of the valve core motor, the operating current of the valve core motor is obtained, and the operating current is divided into several operating condition types according to the magnitude of the operating current; in S403, the configuration parameters of the second PID controller correspond to the operating condition types.
[0014] By adopting the above technical solution, since the working current is positively correlated with the current load of the valve, the current load state of the valve is obtained by obtaining the working current of the valve core motor. Based on the working current, different load levels are divided into working condition types, and the second PID controller configuration parameters corresponding to the working condition type are adopted. This enables the flow regulation capability of the second PID controller to be optimized to match different working conditions.
[0015] Preferably, for any type of operating condition, the curve parameters of the second PID controller adjusting the flow until the current flow reaches the target flow in a steady state are obtained, and the configuration parameters of the second PID controller corresponding to the operating condition are adjusted based on the curve parameters.
[0016] Preferably, the curve parameters include steady-state error, overshoot, settling time, and number of oscillations.
[0017] By adopting the above technical solution, the performance of the second PID controller in flow control under a single operating condition can be evaluated, and the configuration parameters of the second PID controller can be adjusted based on the curve parameters of the current flow reaching the target flow, thereby further optimizing the control effect.
[0018] Secondly, this application provides an adjustable control system for an electric regulating valve actuator, used to implement the above-mentioned control method, and adopts the following technical solution: Includes a flow monitoring module, a valve core motor, a valve core sensor module, and a PID controller module; The flow monitoring module monitors the flow status information of the medium in real time and inputs it into the PID controller module; The valve core motor controls the movement of the valve core; The valve core sensor module includes a valve core position sensor disposed on the valve core and a motor sensor disposed on the valve core motor. The valve core position sensor acquires the position status information of the valve core, and the motor sensor acquires the working status information of the valve core motor. The position status information and the working status information are jointly input into the PID controller module. The PID controller module controls the valve core motor based on the flow status information of the medium, the position status information of the valve core, and the working status information of the valve core motor.
[0019] Preferably, the PID controller module includes a first PID controller, a second PID controller, and a regulating module; The first PID controller outputs a working control signal for the valve core motor based on the flow status information of the medium and the working status information of the valve core motor to control the speed of the valve core motor, so that the current flow rate change rate of the medium approaches the target flow rate change rate. The second PID controller outputs a valve core position control signal based on the flow state information of the medium and the state information of the valve core to control the displacement position of the valve core, so that the current flow rate of the medium decays and oscillates near the target flow rate until the target flow rate is reached and a steady state is maintained. The adjustment module adjusts and sets the configuration parameters of the second PID controller based on the operating current information in the working status information of the valve core motor.
[0020] Thirdly, the computer program product provided in this application employs a technical solution including a computer program or instructions, which enables the computer program or instructions to implement the steps in the adjustable control method of the electric regulating valve actuator described above.
[0021] In summary, this application includes at least one of the following beneficial technical effects: 1. This application provides a dual-control closed loop by forming an inner velocity loop based on the control of the flow rate change and an outer flow loop based on the control of the steady-state flow. The two loops work together to control the valve's flow. The inner loop has a more sensitive and rapid response speed than the outer loop, reflecting the current operating conditions and adjusting the valve core movement speed accordingly. This allows for smooth and seamless adjustment of the valve core position to adapt to different operating conditions, thereby avoiding flow overshoot, oscillation, and steady-state errors, and improving the accuracy of flow control.
[0022] 2. This application can evaluate the load level of the valve by obtaining the working current of the valve core motor, divide the current working condition into different working condition types according to the working current, and set the configuration parameters of the second PID controller accordingly, so that the second PID controller can adapt to the current load to perform precise and efficient valve core position and steady-state flow control, and has strong robustness and anti-interference ability in different environments.
[0023] 3. The second PID controller of this application can adjust the configuration parameters of the second PID controller based on the parameters of the curve from the current flow rate to the target flow rate, so as to improve the adaptability of the second PID controller to specific operating conditions and further optimize the flow control effect of the system. Attached Figure Description
[0024] Figure 1 This is a schematic flowchart illustrating an adjustable control method for an electric regulating valve actuator according to an embodiment of this application. Figure 2 This is a schematic flowchart of S300 in an adjustable control method for an electric regulating valve actuator according to an embodiment of this application. Figure 3 This is a schematic diagram of the current flow rate change adjustment curve in an adjustable control method for an electric regulating valve actuator according to an embodiment of this application; Figure 4 This is a schematic flowchart of S400 in an adjustable control method for an electric regulating valve actuator according to an embodiment of this application. Figure 5 This is a schematic diagram of the current flow rate regulation curve in an adjustable control method for an electric regulating valve actuator according to an embodiment of this application; Figure 6 This is a schematic diagram of the architecture of an adjustable control system for an electric regulating valve actuator according to an embodiment of this application; Figure 7 This is a schematic diagram of the architecture of an exemplary electronic device according to an embodiment of this application. Detailed Implementation
[0025] This specific embodiment is merely an explanation of this application and is not intended to limit it. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of this application.
[0026] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. It should be noted that in the optional embodiments of this application, the object information and other related data involved require the permission or consent of the object when the embodiments of this application are applied to specific products or technologies, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. That is to say, if the embodiments of this application involve data related to the object, it needs to be obtained with the authorization and consent of the object, the authorization and consent of the relevant departments, and in compliance with the relevant laws, regulations, and standards of the country and region. If personal information is involved in the embodiments, the acquisition of all personal information requires the consent of the individual. If sensitive information is involved, the separate consent of the information subject is required, and the embodiments also need to be implemented with the authorization and consent of the object.
[0027] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.
[0028] In the technical solution of automatic control using a PID controller, the PID controller includes configuration parameters for proportional control parameter Kp, integral control parameter Ki, and derivative control parameter Kd. These configuration parameters affect the adjustment curve of the controlled target, therefore, they need to be tuned according to the actual situation to achieve the best control effect. Specifically, the proportional control parameter Kp determines the system's response to the current error, improving the response speed; the integral control parameter Ki is used to eliminate steady-state error; and the derivative control parameter Kd reflects the error change trend, suppresses overshoot, improves dynamic performance, and enhances stability.
[0029] When using a PID controller to control the valve core motor of an electric control valve to regulate the flow rate of the medium in the flow channel, the set parameters of the PID controller are closely related to the actual operating conditions of the electric control valve. However, the dynamic characteristics of the linkage between valve core movement and flow rate changes will change with the valve's wear, medium characteristics, flow rate, and other operating conditions. Therefore, existing PID-based electric control valves require complex parameter tuning processes to adapt to different application scenarios, and it is difficult to maintain ideal control performance under all operating conditions. When operating conditions change, they are prone to overshoot, slow response, slow regulation, continuous oscillation, and steady-state error, which affect the regulation accuracy and efficiency of the electric control valve.
[0030] This application discloses an adjustable control method for an electric regulating valve actuator, which improves the regulating effect of the electric regulating valve actuator on the valve core motor of the electric regulating valve, thereby enhancing the accuracy and robustness of the flow regulation system.
[0031] The following description uses a valve employing a linear stroke valve core as an example to illustrate the adjustable control method of the electric regulating valve actuator in this application. Please refer to [link / reference needed]. Figure 1 The process includes the following steps.
[0032] S100: Obtain the target flow rate of the medium, and obtain the initial preset position of the valve core based on the target flow rate.
[0033] The initial preset position is determined based on the valve's ideal flow characteristics. Ideal flow characteristics refer to the relationship between valve opening and the flow rate of the medium passing through the valve under ideal conditions (e.g., laboratory conditions), and depending on the valve structure, include linear characteristics, equal percentage characteristics, etc. However, after the valve is actually installed in the pipeline system, the actual flow rate of the medium with respect to the valve opening is the valve's working flow characteristics. After actual installation, the pipeline system structure, current flow rate, valve opening state, and actual operating conditions will all cause the system differential pressure conditions to deviate from the ideal test conditions, thus causing the working flow characteristics to deviate from the ideal flow characteristics. Therefore, further adjustment of the valve core position is necessary.
[0034] S200: The valve core motor starts, controlling the valve core to move and acquiring the current flow rate of the medium in real time.
[0035] S300: When the valve core moves, the speed of the valve core motor is controlled to synchronously control the movement speed of the valve core, thereby controlling the rate of change of the current flow rate when the valve core moves.
[0036] For linear-stroke valve cores, the valve core motor is connected to a motion conversion mechanism via a reducer, converting the rotation of the valve core motor into linear displacement of the valve core, thereby controlling the valve core position, i.e., the valve opening. The rotational speed of the valve core motor is directly proportional to the valve core's movement speed, which in turn is directly proportional to the rate of change of the valve opening. Since the rate of change of the valve opening affects the current flow rate change, controlling the rotational speed of the valve core motor allows control of the current flow rate change. To facilitate efficient and convenient adjustment of the valve core motor's speed, a brushless DC motor (BLDC) or a permanent magnet synchronous motor (PMSM) is used. The voltage control signal output by the first PID controller is a PWM modulation signal. The difference lies in the modulation signal: for a BLDC motor, a square wave is used, while for a PMSM motor, a sine wave is used.
[0037] It should be noted that if the actual flow rate change is too small, the valve opening-flow regulation response will be slow, resulting in a slow regulation speed; while if the actual flow rate change is too large, it may cause overshoot and oscillation. Furthermore, if the flow rate change is too large, it may generate water hammer or lead to cavitation in the pipeline system, damaging the valves and pipelines and affecting their lifespan. Therefore, in this application, the actual flow rate change is made close to a preset target flow rate change, thereby optimizing the regulation effect of the subsequent valve opening-flow control system. The target flow rate change is optimized based on the valve's maximum withstand flow rate, maximum pressure, medium properties, and engineering objectives.
[0038] For more details, please see Figure 2 The specific method for controlling the speed of the valve core motor includes the following steps.
[0039] S301 calculates the current flow rate change rate by continuously acquiring the current flow rate.
[0040] S302 compares the current flow rate change with the preset target flow rate change and inputs the comparison result into the first PID controller.
[0041] S303, the first PID controller outputs a control signal based on the comparison result to control the speed of the valve core motor, so that the curve of the flow rate change rate approaches the target flow rate change rate.
[0042] It should be noted that the first PID controller's goal in regulating the valve core motor's speed is not to make the flow rate change rate precisely reach the target flow rate change rate, but rather to reduce the difficulty of valve core opening-flow rate control by making the flow rate change rate stably approach the target flow rate change rate. The key points are: firstly, the flow rate change rate must not exceed the target flow rate change rate to avoid overshoot leading to water hammer or cavitation; secondly, the flow rate change rate adjustment curve needs to be smooth and stable with reduced oscillations to avoid interfering with the reduction of valve core opening-flow rate. Therefore, the first PID controller selects a smaller proportional control parameter Kp, a smaller integral control parameter Ki, and a larger derivative control parameter Kd to make the flow rate change rate approach the target flow rate change rate. The adjustment curve of the flow rate change rate dKv is shown below. Figure 3 As shown, dKv0 is the target flow rate change rate.
[0043] S400, based on the determined valve core movement speed, adjusts the preset position of the valve core in real time, thereby controlling the current flow rate when the valve core stops, until the current flow rate reaches the steady state of the target flow rate.
[0044] For more details, please see Figure 4 The specific method for adjusting the preset position of the valve core in real time includes the following steps.
[0045] S401 obtains the current flow rate each time the valve core reaches the preset position.
[0046] S402 compares the current flow rate with the target flow rate and inputs the comparison result into the second PID controller.
[0047] It should be noted that since the flow rate change has a certain lag with the valve core reaching the preset position, the current flow rate collected for comparison with the target flow rate should be the steady-state current flow rate measured after the valve core stops and a short preset time has elapsed.
[0048] S403, the second PID controller outputs a control signal based on the comparison result to reset the preset position of the valve core, so that the current flow curve decays and oscillates near the target flow until the target flow is reached and a steady state is maintained.
[0049] The above embodiments construct a dual closed-loop control system consisting of an inner velocity loop and an outer flow loop. The inner velocity loop controls the flow rate change by controlling the rate of change of the valve core opening. This inner loop control has a relatively rapid response; changes in the valve core opening rate are immediately reflected in changes in the flow rate change, exhibiting a high response speed. The outer flow loop controls the flow by controlling the final position of the valve core. Due to the delay effect between changes in valve opening and changes in flow, its response is relatively slower than that of the inner loop. The dual closed-loop control system of this application embodiment enables the motor to prioritize, smoothly, and accurately track the target flow rate change, forming the basis for stable and reliable operation of the system under different operating conditions. Then, precise control of the target flow is achieved through the outer flow loop. The technical solution can adapt to various industrial applications requiring precise point-to-point valve control, exhibiting high response speed, fast adjustment speed, small oscillation, and high robustness.
[0050] Based on the above embodiments, in another embodiment, in S300, while controlling the speed of the valve core motor, the operating current of the valve core motor is obtained, and the operating current is divided into several operating condition types.
[0051] For valve core motors, especially brushless DC motors (BLDC) or permanent magnet synchronous motors (PMSM), their speed is determined by the input PWM voltage control signal. At a constant speed, the operating current of the valve core motor is positively correlated with the valve load; the greater the load, the greater the torque the valve core motor needs to overcome, and the greater the operating current. The valve load is the result of the combined influence of various factors under current operating conditions, including valve static friction, wear on the valve's mechanical structure, medium viscosity, medium flow rate, current temperature, the flow load generated by the current system flow, and the overall pressure influence of the piping network. The valve load directly reflects the resistance that the valve core motor needs to overcome to regulate flow. Changes in the valve load directly affect the valve core's motion characteristics, thus affecting the adaptability of the second PID controller's configuration parameters to the current operating conditions. Incompatibility will lead to a deterioration in flow regulation performance.
[0052] In the embodiments of this application, the current intensity of the operating current reflects the current load of the valve, and the operating current is divided into several operating condition types according to its magnitude. Simultaneously, the configuration parameters of the second PID controller are configured differently based on different operating condition types, so that each set of configuration parameters of the second PID controller corresponds to a different operating condition type, thereby further optimizing the flow regulation effect.
[0053] Specifically, the method for configuring the second PID controller's parameters based on different operating conditions is as follows. For any operating condition type, obtain the steady-state curve parameters of the second PID controller during flow regulation until the current flow reaches the target flow. These curve parameters include steady-state error, overshoot, settling time, and number of oscillations. Based on these curve parameters, adjust and update the proportional control parameter Kp, integral control parameter Ki, and derivative control parameter Kd of the PID controller under different operating conditions to optimize the current flow regulation curve. The ideal regulation curve for the current flow Kv is shown below. Figure 5 As shown, Kv0 represents the target flow rate. The goal of adjusting the proportional control parameter Kp, integral control parameter Ki, and derivative control parameter Kd of the PID controller is to ensure that the adjustment curve has a moderate overshoot (greater than 0 and less than 10%), converges rapidly within 5 oscillations, has a short overall settling time, and a small steady-state error (almost 0).
[0054] Based on this, a mapping table between PID control parameters and operating condition types is established, so that it can be directly called when encountering the same operating condition in the future, without the need to readjust the configuration parameters of the PID controller. The above technical solution can further improve the robustness of the flow control method to cope with different operating conditions.
[0055] It should be noted that the above embodiments are illustrated using a valve with a linear stroke valve core as an example, where the valve opening degree is positively correlated with the linear displacement of the valve core. For valves with other structural forms, a valve core motor control scheme adapted to the valve core motion mode can be used to achieve flow control, and the above changes do not affect the implementation of the control method of this application. For example, for a valve with a rotary motion valve core, the valve opening degree is positively correlated with the rotation angle of the valve core, and flow control is based on controlling the rotational motion of the valve core.
[0056] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.
[0057] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM or random access memory (RAM), magnetic disks, or optical disks.
[0058] Please see Figure 6 This application discloses an adjustable control system for an electric regulating valve actuator, used to implement the aforementioned adjustable control method for the electric regulating valve actuator, comprising a flow monitoring module 1, a valve core motor 2, a valve core sensor module 3, a PID controller module 4, and a valve 5.
[0059] The flow monitoring module 1 monitors the flow status information of the medium in real time and inputs it into the PID controller module 4. It is usually set at the outlet of valve 5 or in the flow channel of the pipeline system near valve 5.
[0060] The valve core motor 2 controls the movement of the valve core inside the valve 5. The valve core motor 2 is a brushless DC motor (BLDC) or a permanent magnet synchronous motor (PMSM), and its speed is determined by the input PWM voltage control signal.
[0061] The valve core sensor module 3 includes a valve core position sensor 31 mounted on the valve core and a motor sensor 32 mounted on the valve core motor. The valve core position sensor 31 acquires the position status information of the valve core; for a valve with a linear stroke valve core, the position status information is the linear displacement information of the valve core. The motor sensor 32 acquires the operating status information of the valve core motor, including motor speed and operating current information. The position status information and operating status information are jointly input into the PID controller module 4.
[0062] The PID controller module 4 controls the valve core motor based on the flow status information of the medium, the position status information of the valve core, and the working status information of the valve core motor.
[0063] Specifically, the PID controller module 4 includes a first PID controller 41, a second PID controller 42, and an adjustment module 43.
[0064] The first PID controller 41 outputs a working control signal for the valve core motor based on the flow status information of the medium and the working status information of the valve core motor, so as to control the speed of the valve core motor and make the current flow rate change rate of the medium approach the target flow rate change rate.
[0065] The second PID controller 42 outputs a valve core position control signal based on the flow status information of the medium and the state information of the valve core to control the displacement position of the valve core, so that the current flow of the medium decays and oscillates near the target flow until the target flow is reached and a steady state is maintained.
[0066] The adjustment module 43 adjusts and sets the configuration parameters of the second PID controller based on the operating current information of the valve core motor.
[0067] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the adjustable control system of the electric regulating valve actuator described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.
[0068] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.
[0069] Please see Figure 7The following describes an exemplary electronic device provided in an embodiment of this application. This electronic device includes a processor, a memory, and a communication interface connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database stores configuration parameters of the PID controller and real-time acquired flow data and valve core sensor monitoring data. The communication interface connects to the flow monitoring module and valve core sensor module to acquire external monitoring data and connects to the PID controller to output control signals to the valve core motor via PID control. When the computer program is executed by the processor, it implements the adjustable control method of the electric regulating valve actuator according to the embodiments of this application.
[0070] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," "third," and similar terms used in this application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. The terms "an" or "a" and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "comprising" or "including" and similar terms mean that the elements or objects preceding "comprising" or "including" encompass the elements or objects listed following "comprising" or "including" and their equivalents, and do not exclude other elements or objects. "Above," "below," "left," "right," etc., are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.
[0071] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.
Claims
1. An adjustable control method for an electric regulating valve actuator, the actuator comprising a valve core motor, the valve core motor being used to regulate the flow rate of a medium by controlling the movement of the valve core, characterized in that... Includes the following steps: S100, obtain the target flow rate of the medium, and obtain the initial preset position of the valve core based on the target flow rate; S200, the valve core motor starts, controls the valve core to move, and obtains the current flow rate of the medium in real time; S300: When the valve core moves, the speed of the valve core motor is controlled to synchronously control the movement speed of the valve core, thereby controlling the rate of change of the current flow rate when the valve core moves. S400, based on the determined valve core movement speed, adjusts the preset position of the valve core in real time, thereby controlling the current flow rate when the valve core stops, until the current flow rate reaches the steady state of the target flow rate.
2. The adjustable control method for an electric regulating valve actuator according to claim 1, characterized in that, In S300, the specific method for controlling the speed of the valve core motor includes the following steps: S301, calculate the current flow rate change rate by continuously acquiring the current flow rate; S302, compare the current flow rate change rate with the preset target flow rate change rate, and input the comparison result into the first PID controller; S303, the first PID controller outputs a control signal based on the comparison result to control the speed of the valve core motor, so that the curve of the current flow rate change rate approaches the target flow rate change rate.
3. The adjustable control method for an electric regulating valve actuator according to claim 2, characterized in that, The valve core motor is a brushless DC motor or a permanent magnet synchronous motor, and the control signal output by the first PID controller is a PWM modulation signal.
4. The adjustable control method for an electric regulating valve actuator according to claim 1, characterized in that, In S400, the specific method for real-time adjustment of the preset position of the valve core includes the following steps: S401: Obtain the current flow rate each time the valve core reaches a preset position; S402 compares the current flow rate with the target flow rate and inputs the comparison result to the second PID controller. S403, the second PID controller outputs a control signal based on the comparison result to reset the preset position of the valve core, so that the current flow rate decays and oscillates near the target flow rate until the target flow rate is reached and maintains a steady state.
5. The adjustable control method for an electric regulating valve actuator according to claim 4, characterized in that, In S300, while controlling the speed of the valve core motor, the operating current of the valve core motor is obtained, and the operating current is divided into several operating condition types according to the magnitude of the operating current; in S403, the configuration parameters of the second PID controller correspond to the operating condition types.
6. The adjustable control method for an electric regulating valve actuator according to claim 5, characterized in that, For any type of operating condition, obtain the curve parameters of the second PID controller when the flow rate is adjusted until the current flow rate reaches the target flow rate in a steady state, and adjust the configuration parameters of the second PID controller corresponding to the operating condition type based on the curve parameters.
7. The adjustable control method for an electric regulating valve actuator according to claim 6, characterized in that, The curve parameters include steady-state error, overshoot, settling time, and number of oscillations.
8. An adjustable control system for an electric regulating valve actuator, used to implement the control method according to any one of claims 1 to 7, characterized in that, It includes a flow monitoring module, a valve core motor, a valve core sensor module, and a PID controller module; The flow monitoring module monitors the flow status information of the medium in real time and inputs it into the PID controller module; The valve core motor controls the movement of the valve core; The valve core sensor module includes a valve core position sensor disposed on the valve core and a motor sensor disposed on the valve core motor. The valve core position sensor acquires the position status information of the valve core, and the motor sensor acquires the working status information of the valve core motor. The position status information and the working status information are jointly input into the PID controller module. The PID controller module controls the valve core motor based on the flow status information of the medium, the position status information of the valve core, and the working status information of the valve core motor.
9. The adjustable control system for an electric regulating valve actuator according to claim 8, characterized in that, The PID controller module includes a first PID controller, a second PID controller, and a regulating module; The first PID controller outputs a working control signal for the valve core motor based on the flow status information of the medium and the working status information of the valve core motor to control the speed of the valve core motor, so that the current flow rate change rate of the medium approaches the target flow rate change rate. The second PID controller outputs a valve core position control signal based on the flow state information of the medium and the state information of the valve core to control the displacement position of the valve core, so that the current flow rate of the medium decays and oscillates near the target flow rate until the target flow rate is reached and a steady state is maintained. The adjustment module adjusts and sets the configuration parameters of the second PID controller based on the operating current information in the working status information of the valve core motor.
10. A computer program product, characterized in that, The computer program product includes a computer program or instructions that enable the computer program or instructions to perform the steps in the adjustable control method for an electric regulating valve actuator according to any one of claims 1 to 7.